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We introduce the notion of a Lie algebroid structure on an affine bundle whose base manifold is fibred over the real numbers. It is argued that this is the framework which one needs for coming to a time-dependent generalization of the…
We study the problem of robust global stabilization in control-affine systems, focusing on dynamic uncertainties in the control directions \emph{and} the presence of topological obstructions that prevent the existence of smooth global…
A unitary representation of a, possibly infinite dimensional, Lie group $G$ is called semi-bounded if the corresponding operators $i\dd\pi(x)$ from the derived representations are uniformly bounded from above on some non-empty open subset…
In contrast to the Euler-Poincar{\'e} reduction of geodesic flows of left- or right-invariant metrics on Lie groups to the corresponding Lie algebra (or its dual), one can consider the reduction of the geodesic flows to the group itself.…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
We explore a new type of discretizations of lattice dynamical models of the Klein-Gordon type relevant to the existence and long-term mobility of nonlinear waves. The discretization is based on non-holonomic constraints and is shown to…
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
The purpose of this paper is to present explicitly the solution curve for affine control systems on Lie groups under the assumption that automorphisms associated to the linear vector fields commutes. If we assume that the derivations…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
The goal of this paper is to establish a general rigidity statement for abstract representations of elementary subgroups of Chevalley groups of rank at least 2 over a class of commutative rings that includes the localizations of 1-generated…
Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In particular, state observer error dynamics analysis in matrix…
In this paper we construct the Hamiltonian constraint operator of loop quantum cosmology using holonomies defined for arbitrary irreducible SU(2) representations labeled by spin J. We show that modifications to the effective semi-classical…
We study a class of theories in which space-time is treated classically, while interacting with quantum fields. These circumvent various no-go theorems and the pathologies of semi-classical gravity, by being linear in the density matrix and…
In the study of induced bilinear systems, the classical Lie algebra rank condition (LARC) is known to be impractical since it requires computing the rank everywhere. On the other hand, the transitive Lie algebra condition, while more…
This paper describes a formal theory of smooth vector fields, Lie groups and the Lie algebra of a Lie group in the theorem prover Isabelle. Lie groups are abstract structures that are composable, invertible and differentiable. They are…
The paper deals with the problem of integration of equations of motion in nonholonomic systems. By means of well-known theory of the differential equations with an invariant measure the new integrable systems are discovered. Among them…
The purpose of this paper is to show that, at least for Lagrangians of mechanical type, nonholonomic Euler-Lagrange equations for a nonholonomic linear constraint D may be viewed as non-constrained Euler-Lagrange equations but on a new…
We consider the geometry determined by a torsion-free affine connection whose holonomy lies in the subgroup U*(2m), a real form of GL(2m,C), otherwise denoted by SL(m,H).U(1). We show in particular how examples may be generated from…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
Hopf algebra deformations are merged with a class of Lie systems of Hamiltonian type, the so-called Lie-Hamilton systems, to devise a novel formalism: the Poisson-Hopf algebra deformations of Lie-Hamilton systems. This approach applies to…